TEM: a therapeutic exercise machine for the lower extremities of spastic patients. - Seiichiro Okada; Taisuke Sakaki; Ryokichi Hirata; Yasutomo Okajima; Shigeo Uchida; Yutaka Tomita (Adv. Robotics, 2001)

BRMS: bio-responsive motion system (rehabilitation system for stroke patients). - Ryokichi Hirata; Taisuke Sakaki; Seiichiro Okada; Zenta Nakamoto; Noriaki Hiraki; Yasutomo Okajima; Shigeo Uchida; Yutaka Tomita; Toshio Horiuchi (IROS, 2002)